The mmWave signal, transmitted from the BS, is reflected by large surfaces and scattered by SPs.
At every time \(k\) , the vehicle receives multipath, coming from different landmarks, and observes measurements after the channel estimation routine [1]}.
The signal path is indexed by \(i\) , and the measurement of signal path \(i\)  is denoted by \(\mathbf {z}_k^i\) .
We denote a set of measurements by \(\mathcal {Z}_k = \lbrace \mathbf {z}_k^1,\ldots ,\mathbf {z}_k^{I_k}\rbrace \) , while the \(I_k\)  is the number of paths, including LOS and non-LOS (NLOS).
Following [2]}, we can model the measurement \(\mathbf {z}_k^i\)  as
\(\mathbf {z}_k^i = h(\mathbf {s}_k,\mathbf {x}^i,m)+\mathbf {r}_k^i, \) 
